CN109164440A - A kind of method of multifrequency radar ranging - Google Patents
A kind of method of multifrequency radar ranging Download PDFInfo
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- CN109164440A CN109164440A CN201811154138.1A CN201811154138A CN109164440A CN 109164440 A CN109164440 A CN 109164440A CN 201811154138 A CN201811154138 A CN 201811154138A CN 109164440 A CN109164440 A CN 109164440A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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- Radar, Positioning & Navigation (AREA)
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Abstract
The present invention relates to a kind of methods of multifrequency radar ranging, radar only needs to emit the multiple sinusoidal signal of three different frequencies, and for these combined sine-wave signals after target reflects, three receiving antennas distinguish receives echo-signal, after obtaining echo-signal, one of echo-signal is denoised.Modulus is carried out to the signal after cumulative, maximum value position is estimated, to the arrival time of induction signal, time of arrival (toa) is scaled to the rough estimate evaluation of target range, and then obtain the range ambiguity number of target.The phase difference that signal is received according to three calculates fuzzy target range essence estimated value using Chinese remainder theorem and obtains the high-precision unambiguous distance of target in conjunction with range ambiguity number.Compared to existing radar range finding method, the complexity of radar system of the invention is low, and range accuracy is high and range ambiguity is not present.
Description
Technical field
The present invention relates to Radar Technology fields, and in particular to a kind of method of multifrequency radar ranging.
Background technique
Traditional multi-frequency radar carries out ranging by emitting the multiple sinusoidal signal of multiple and different carrier frequencies.Pass through
The problem of designing the difference on the frequency between different carrier frequencies, and utilizing Chinese remainder theorem, can solve range ambiguity, for remote
Distance objective needs to increase the number of transmitting signal in order to avoid range ambiguity problem.
The shortcomings that conventional method is: the first, for distant object, transmitting signal number is more, increases radar system
System complexity；The second, more transmitting number of signals causes system noiseproof feature to decline.
Summary of the invention
The purpose of the present invention is to provide a kind of methods of multifrequency radar ranging, and the complexity of radar system is low, ranging
Precision is high and range ambiguity problem is not present.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of method of multifrequency radar ranging comprising following steps:
Step 1 assumes that 3 combined sine-wave signals of radar emission are respectively as follows: s there are a targeti(t)=exp (j2 π
fiT), i=1 ..., 3, wherein fiFor the frequency for emitting signal, fi=f0+Δfi, i=1 ..., 3, wherein f0On the basis of frequency
Rate,Δ f is maximum difference frequency, ΓiFor relatively prime integer；Calculate the maximum unambiguous distance of radarWherein, Rui=M Γi, M=gcd (Rui), greatest common divisor is sought in gcd () expression；
Step 2, the estimated value for calculating target range fuzzy number；
3 multiple sine wave continuous signal s of step 2.1, radar emissioni(t) after target reflects, 3 receiving antennas
Receives echo-signal respectively, obtains echo-signal xi(t), i=1 ..., 3；
Step 2.2, to echo-signal xi(t) Frequency Estimation is carried out, respectively Doppler frequency caused by estimating target motionI=1 ..., 3 constructs thermal compensation signalIt is multiplied, obtains with original signal I=1 ..., 3；
Step 2.3, to wherein signal all the wayCarry out denoising, the signal after being denoisedIt is rightInto
Row coherent accumulation, accumulation length are transmitting signal length；Modulus maximizing position is carried out to the signal after cumulativeConversion
At the rough estimate evaluation of target rangeWherein, c is the light velocity, TsFor the sampling interval；
By the rough estimate evaluation of target rangeDivided by the maximum unambiguous distance R of radaruAnd be rounded, obtain range ambiguity number
Estimated value
Step 3 calculates fuzzy target range essence estimated value；
ForI=1 ..., 3 calculates fuzzy target range essence estimated value using Chinese remainder theorem
Step 4, the fuzzy mesh obtained according to the estimated value and step 3 of the target range fuzzy number obtained according to step 2
The high-precision unambiguous distance of target can be calculated in subject distance essence estimated value
In the step 3, the target range essence estimated valueCalculating it is as follows:
Define Ra=miRui+R0i, whereinIndicate that reference frequency receives the phase of signalWith i-th
The phase of a frequency reception signalBetween the distance that is converted into of difference, definitionIt calculates
If Si,1It indicatesIn one-componentI.e.Define S=S2,1∩
S3,1, then S only includes unique element m1；IfThenI=2,3；
Finally, calculating fuzzy target range essence estimated value
After adopting the above scheme, when carrying out radar range finding using the method for the present invention, radar only needs to emit three different frequencies
The multiple sinusoidal signal of rate, for these combined sine-wave signals after target reflects, three receiving antennas distinguish receives echo-signal, obtain
After echo-signal, one of echo-signal is denoised.Modulus is carried out to the signal after cumulative, estimates corner position,
To the arrival time of induction signal, time of arrival (toa) is scaled to the rough estimate evaluation of target range, and then obtains range-to-go
Fuzzy number.The phase difference that signal is received according to three calculates fuzzy target range essence estimated value, knot using Chinese remainder theorem
Range ambiguity number is closed, the high-precision unambiguous distance of target is obtained.Compared to existing radar range finding method, this method utilizes phase
The dry cumulative fuzzy number for estimating target, there are two advantages: first, the number for not needing additionally to increase transmitting signal is to extend nothing
Fuzzy distance, radar system complexity are low；Second, it can choose the difference on the frequency between biggish transmitting signal, improve ranging essence
Degree.
Detailed description of the invention
Fig. 1 is work flow diagram of the invention；
Fig. 2 is the echo-signal coherent accumulation results schematic diagram of the embodiment of the present invention；
Fig. 3 is the contrast schematic diagram of the embodiment of the present invention Yu conventional method range accuracy.
Specific embodiment
As shown in Figure 1, present invention discloses a kind of methods of multifrequency radar ranging, specifically includes the following steps:
Step 1 assumes that 3 combined sine-wave signals of radar emission are respectively as follows: s there are a targeti(t)=exp (j2 π
fiT), i=1 ..., 3, wherein fiFor the frequency for emitting signal, fi=f0+Δfi, i=1 ..., 3, wherein f0On the basis of frequency
Rate,Δ f is maximum difference frequency, ΓiFor relatively prime integer；Calculate the maximum unambiguous distance of radarWherein, Rui=M Γi, M=gcd (Rui), greatest common divisor is sought in gcd () expression；
Step 2, the estimated value for calculating target range fuzzy number；
3 multiple sine wave continuous signal s of step 2.1, radar emissioni(t) after target reflects, 3 receiving antennas
Receives echo-signal respectively, obtains echo-signal xi(t), i=1 ..., N；
Step 2.2, to echo-signal xi(t) Frequency Estimation is carried out, respectively Doppler frequency caused by estimating target motionI=1 ..., 3 constructs thermal compensation signalIt is multiplied, obtains with original signal I=1 ..., 3；
Step 2.3, to signalCarry out denoising, the signal after being denoisedForIn signal all the way
Coherent accumulation is carried out, i.e. the real and imaginary parts of signal are separately summed, and accumulation length is transmitting signal length.To the signal after adding up
Carry out modulus maximizing positionIt is converted into the rough estimate evaluation of target rangeWherein, c is the light velocity, Ts
For the sampling interval.
By the rough estimate evaluation of target rangeDivided by the maximum unambiguous distance R of radaruAnd be rounded, obtain range ambiguity number
Estimated value
Step 3 calculates fuzzy target range essence estimated value；
ForI=1 ..., 3 calculates fuzzy target range essence estimated value using Chinese remainder theoremSide
Method is as follows: defining Ra=miRui+R0i, whereinIndicate that reference frequency receives the phase of signalWith i-th
The phase of frequency reception signalBetween the distance that is converted into of difference, definitionIt calculates
If Si,1It indicatesIn one-componentThat is,Define S=S2,1
∩S3,1, S only includes unique element m1.IfThenI=2,3.Finally calculate fuzzy target
The smart estimated value of distance
Step 4, the fuzzy mesh obtained according to the estimated value and step 3 of the target range fuzzy number obtained according to step 2
The high-precision unambiguous distance of target can be calculated in subject distance essence estimated value
Three different frequencies for being illustrated in figure 2 an of the invention specific embodiment answer the echo-signal of sinusoidal signal and relevant are tired out
Add result schematic diagram, carry out the obtained result of radar range finding using the signal and be compared with traditional radar range finding method,
Its comparison result is as shown in Figure 3.As can be seen from Figure 3, the range accuracy of radar range finding method of the invention wants arm conventional method high.
The above is only the embodiment of the present invention, is not intended to limit the scope of the present invention, therefore all
Any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention still fall within this
In the range of inventive technique scheme.
Claims (2)
1. a kind of method of multifrequency radar ranging, it is characterised in that: the described method comprises the following steps:
Step 1 assumes that 3 combined sine-wave signals of radar emission are respectively as follows: s there are a targeti(t)=exp (j2 π fiT),
I=1 ..., 3, wherein fiFor the frequency for emitting signal, fi=f0+Δfi, i=1 ..., 3, wherein f0For benchmark frequency,Δ f is maximum difference frequency, ΓiFor relatively prime integer；Calculate the maximum unambiguous distance of radarWherein, Rui=M Γi, M=gcd (Rui), greatest common divisor is sought in gcd () expression；
Step 2, the estimated value for calculating target range fuzzy number；
3 multiple sine wave continuous signal s of step 2.1, radar emissioni(t) after target reflects, 3 receiving antennas connect respectively
Echo-signal is received, echo-signal x is obtainedi(t), i=1 ..., 3；
Step 2.2, to echo-signal xi(t) Frequency Estimation is carried out, respectively Doppler frequency caused by estimating target motioni
=1 ..., 3, construct thermal compensation signalIt is multiplied, obtains with original signal I=1 ..., 3；
Step 2.3, to wherein signal all the wayCarry out denoising, the signal after being denoisedIt is rightIt is concerned with
Cumulative, accumulation length is transmitting signal length；Modulus maximizing position is carried out to the signal after cumulativeIt is converted into mesh
The rough estimate evaluation of subject distanceWherein, c is the light velocity, TsFor the sampling interval；
By the rough estimate evaluation of target rangeDivided by the maximum unambiguous distance R of radaruAnd be rounded, obtain estimating for range ambiguity number
Evaluation
Step 3 calculates fuzzy target range essence estimated value；
ForI=1 ..., 3 calculates fuzzy target range essence estimated value using Chinese remainder theorem
Step 4, the fuzzy target obtained according to the estimated value and step 3 of the target range fuzzy number obtained according to step 2 away from
From smart estimated value, the high-precision unambiguous distance of target can be calculated
2. a kind of method of multifrequency radar ranging according to claim 1, it is characterised in that: in the step 3, the mesh
Subject distance essence estimated valueCalculating it is as follows:
Define Ra=miRui+R0i, whereinIndicate that reference frequency receives the phase of signalWith i-th of frequency
The phase of rate reception signalBetween the distance that is converted into of difference, definitionIt calculates
If Si,1It indicatesIn one-componentI.e.Define S=S2,1∩S3,1, then
S only includes unique element m1；IfThenI=2,3；
Finally, calculating fuzzy target range essence estimated value
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Cited By (3)
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| CN110174648A (en) * | 2019-06-24 | 2019-08-27 | 西安交通工程学院 | A kind of signal processing method and device |
| CN111880183A (en) * | 2020-07-28 | 2020-11-03 | 武汉大学 | Ultrasonic transducer ranging system with multiple working modes |
| CN114779228A (en) * | 2022-03-31 | 2022-07-22 | 南京隼眼电子科技有限公司 | Target ranging method, device and storage medium |
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| CN111880183A (en) * | 2020-07-28 | 2020-11-03 | 武汉大学 | Ultrasonic transducer ranging system with multiple working modes |
| CN114779228A (en) * | 2022-03-31 | 2022-07-22 | 南京隼眼电子科技有限公司 | Target ranging method, device and storage medium |
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Effective date of registration: 20220714 Address after: 510220 room 503, No. 29-4, Yiyuan South Road, Haizhu District, Guangzhou, Guangdong Province Patentee after: Guangzhou Tianyan perception Technology Co.,Ltd. Address before: Siming District of Xiamen city in Fujian Province, 361000 South Siming Road No. 422 Patentee before: XIAMEN University |